CN103912218B - Rotary drilling rig and car load gravity's center control method, system - Google Patents
Rotary drilling rig and car load gravity's center control method, system Download PDFInfo
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- CN103912218B CN103912218B CN201410146328.4A CN201410146328A CN103912218B CN 103912218 B CN103912218 B CN 103912218B CN 201410146328 A CN201410146328 A CN 201410146328A CN 103912218 B CN103912218 B CN 103912218B
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Abstract
The invention provides a kind of rotary drilling rig and car load gravity's center control method, system, described rotary drilling rig comprises get on the bus (60), is positioned at the equipment of (60) front end of getting on the bus and the counterweight (61) of rear end, described equipment comprises amplitude oil cylinder (52) and swing arm (51), and described method comprises: obtain the moment of described equipment under different operating state and between car load center of gravity; By the target location of counterweight (61) described in described Calculating Torque during Rotary; Control described counterweight (61) and move to described target location.The stability that the present invention can realize rotary drilling rig car load center of gravity controls, control method is simple, in addition, between the type of different rotary drilling rig, although the weight of counterweight is not etc., by the position of control method mobile counterweight (61) of the present invention, make its generalization, rotary drilling rig stability is better, and good economy performance, counterweight (61) can be done lighter.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to rotary drilling rig and car load gravity's center control method, system.
Background technology
Rotary drilling rig is the modal pore-forming equipment in a kind of foundation construction, and it mainly comprises chassis 9, get on the bus 8 and equipment, and wherein, equipment mainly comprises the parts such as mast 1, drilling rod 2, unit head 3, drilling tool 4, jib lubbing mechanism 5, hoisting mechanism.Please refer to Fig. 1-Fig. 3, Fig. 1-Fig. 3 illustrates three kinds of often residing states of rotary drilling rig, and the first state is equipment state to be folded or to be deployed, as shown in Figure 1, drilling rod 2, mast 1 and drilling tool 4 get on the bus 8 relatively in erectility, and near getting on the bus 8; The second state is the state that equipment launches, and as shown in Figure 2, drilling rod 2, mast 1 and drilling tool 4 are relatively got on the bus and 88 kept at a certain distance away in erectility and with getting on the bus and make drilling tool 4 and boring 6 centerings (now directly can implement drilling operation); The third state is the folding state of equipment, and as shown in Figure 3, drilling rod 2, mast 1 and drilling tool 4 are relatively got on the bus and 8 to be the level of state thus convenient transport.Rotary drilling rig switches through being everlasting between above-mentioned three kinds of states, and as can be seen from Fig. 1-Fig. 3, the position of rotary drilling rig car load center of gravity P under three kinds of states is change.
Rotary drilling rig 8 rear portions of getting on the bus are provided with counterweight 7, for strengthening the stability of complete machine, the needs considered transport and install, current counterweight 7 is generally make removably, described counterweight 7 can increase accordingly according to self needs or reduce the quantity of counterweight 7, but the installation site of its relative complete machine of counterweight 7 is constant.Due to the equipment of rotary drilling rig, namely the parts such as mast 1, drilling rod 2, unit head 3 and drilling tool 4 are motions, its with get on the bus 8 horizontal range time be everlasting and change, and range of movement is larger, and the relative boarding position of counterweight 7 is fixed, so can cause the car load unbalance of car load, under ultimate limit state or operation have the hidden danger of overturning because of carelessness.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of control method of churning driven car load center of gravity, and this control method can make the steadily of centre of gravity of rotary drilling rig, reduces the dangerous situations such as overturning.
Rotary drilling rig car load gravity's center control method provided by the invention, this rotary drilling rig comprises the equipment of front end of getting on the bus of getting on the bus, be positioned at and is positioned at the counterweight of rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment to be connected and by the flexible switching realizing different operating state of amplitude oil cylinder, described control method comprises: obtain the moment of described equipment under different operating state and between car load center of gravity with getting on the bus by amplitude oil cylinder; By the target location of counterweight described in described Calculating Torque during Rotary; Control described counterweight movement to described target location.
Further, the step obtaining the moment of described equipment under different operating state and between car load center of gravity comprises: the distance between the center of gravity obtaining described jib lubbing mechanism to described car load center of gravity, and calculates the distance between the center of gravity of equipment and described car load center of gravity according to this distance; Weighing scale according to the distance between described equipment and described car load center of gravity and equipment calculates the moment of described equipment under different operating state and between car load center of gravity.
Further, the center of gravity of the described jib lubbing mechanism of described acquisition comprises to the step of the distance between described car load center of gravity: the inclination angle obtaining described swing arm; By the distance between the center of gravity of jib lubbing mechanism described in the Dip countion of described swing arm to described car load center of gravity.
Further, the step at the inclination angle of the described swing arm of described acquisition comprises: the length detecting described amplitude oil cylinder; According to the relation at the length of described amplitude oil cylinder and the inclination angle of described swing arm, calculate described inclination angle.
Further, described rotary drilling rig also comprises chassis, described in get on the bus by the revolution of the centre of gyration relatively described chassis, described car load center of gravity is positioned at described centre of gyration place, according to the moment of described equipment relative to this centre of gyration place and the weight of counterweight, calculate the target location of described counterweight.
Further, described rotary drilling rig comprises and to be connected with described counterweight and to drive the telescopic oil cylinder that counterweight seesaws; By controlling the flexible of described telescopic oil cylinder and then controlling described counterweight movement to described target location.
Further, control described counterweight movement in the step of described target location, control described telescopic oil cylinder and described amplitude oil cylinder is synchronized with the movement.
The present invention also provides rotary drilling rig car load Center of Gravity Control System, this rotary drilling rig comprises the equipment of front end of getting on the bus of getting on the bus, be positioned at and is positioned at the counterweight of rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment to be connected and by the flexible switching realizing different operating state of amplitude oil cylinder with getting on the bus by amplitude oil cylinder, described control system comprises: receiving system, for obtaining the positional information of described equipment under different operating state; Control device, for the moment of equipment under different operating state and between car load center of gravity according to described positional information calculation, by the target location of counterweight described in described Calculating Torque during Rotary, and then controls described counterweight movement to described target location.
Further, described control device also comprises angle detection device, and for detecting the inclination angle of described swing arm, the inclination angle of described swing arm is the positional information of described equipment in different operating state; Distance between described control device is used for by the center of gravity of equipment described in the Dip countion of described swing arm to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment
Further, described control device also comprises displacement detector, and for detecting the length of described amplitude oil cylinder, the length of described amplitude oil cylinder is the positional information of described equipment under different operating state; Described control device is according to the relation at the inclination angle of the length of described amplitude oil cylinder and described swing arm, calculate the inclination angle of described swing arm, by the distance between the center of gravity of equipment described in the Dip countion of described swing arm to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Further, described rotary drilling rig comprises and being connected and the electromagnetic valve driving the telescopic oil cylinder of counterweight movement and be connected between hydraulic oil source and described telescopic oil cylinder with described counterweight; The automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight movement to described target location for receiving control signal that described control device sends and then controlling described telescopic oil cylinder.
Further, described control system also comprises the displacement transducer detecting described telescopic oil cylinder distance of stretch out and draw back, and institute's displacement sensors is electrically connected with described control device.
The invention provides a kind of rotary drilling rig, this rotary drilling rig comprises the equipment of front end of getting on the bus of getting on the bus, be positioned at and is positioned at the counterweight of rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment is connected by amplitude oil cylinder and by the flexible switching realizing different operating state of amplitude oil cylinder, also comprises above-mentioned car load Center of Gravity Control System with getting on the bus.
The stability that car load gravity's center control method of the present invention can realize rotary drilling rig car load center of gravity controls, control method is simple, in addition, control method of the present invention is adopted, between the type of different rotary drilling rig, although the weight of counterweight is not etc., but by the position of control method mobile counterweight of the present invention, make its generalization, adopt the rotary drilling rig stability of this moveable counter weight better, good economy performance, counterweight can be done lighter.
Accompanying drawing explanation
Fig. 1 is the rotary drilling rig structural representation of prior art, and wherein, rotary drilling rig is in equipment state to be folded or to be deployed;
Fig. 2 is the rotary drilling rig structural representation of prior art, and wherein, rotary drilling rig is in the state that equipment launches;
Fig. 3 is the rotary drilling rig structural representation of prior art, and wherein, rotary drilling rig is in the folding state of equipment;
Fig. 4 is the rotary drilling rig structural representation of one embodiment of the invention, and wherein, rotary drilling rig is in equipment state to be folded or to be deployed;
Fig. 5 is the rotary drilling rig structural representation of one embodiment of the invention, and wherein, rotary drilling rig is in the state that equipment launches;
Fig. 6 is swing arm and the amplitude oil cylinder structural representation of Fig. 4 centre circle I part;
Fig. 7 is the simplification mechanics structural representation in Fig. 6.
Description of reference numerals
10, mast 20, drilling rod 30, unit head 40, drilling tool
50, jib lubbing mechanism 51, swing arm 52, amplitude oil cylinder 60, get on the bus
61, counterweight 62, telescopic oil cylinder 63, hoisting mechanism 70, chassis
90, boring 511, angle detection device 521, displacement detector 65, slide rail
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
In the present invention, when not doing contrary explanation, use the noun of locality as " forward and backward " be for parts each under rotary drilling rig normal operating conditions between mutual alignment relationship description word, wherein, with direction shown in Fig. 4 for reference direction, the direction at the equipment place of the rotary drilling rig in Fig. 4 is " front ", and the direction at counterweight place is " afterwards ".
Refer to Fig. 4 and Fig. 5, usually, rotary drilling rig mainly comprises chassis 70, to get on the bus 60 and equipment, wherein, equipment mainly comprises mast 10, drilling rod 20, unit head 30, drilling tool 40, jib lubbing mechanism 50, parts such as hoisting mechanism 63 grade, described jib lubbing mechanism 50 comprises amplitude oil cylinder 52 and swing arm 51, this equipment 60 to be connected and by the flexible switching realizing different operating state of amplitude oil cylinder 52 with getting on the bus by amplitude oil cylinder 52, get on the bus 60 rear portion be configured with counterweight, described counterweight 61 can 60 motions of getting on the bus of relatively described rotary drilling rig, get on the bus and 60 equipment can be driven to turn round relative to chassis 70.In Fig. 4, rotary drilling rig is in the first duty, now rotary drilling rig equipment with to get on the bus 60 close together, and with boring 90, there is certain distance, be in state to be folded or to be deployed; In Fig. 5, rotary drilling rig is in the second duty, and now, the equipment of rotary drilling rig launches, and equipment distance gets on the bus 60 relatively far, and equipment and boring 90 almost coaxials, be in the state that equipment launches.Equipment is by the flexible switching realizing the first state and the second state of amplitude oil cylinder 52.The (not shown) when rotary drilling rig is in the duty of boring, drilling tool 40 is in boring 90, is constantly tunneled and exits boring in the borehole the material discharging in boring realized creeping into by drilling tool 40.
When described equipment is under different operating state, as under equipment is in the second duty, described equipment, away from described 60 and the chassis 70 of getting on the bus, can cause the car load position of centre of gravity of car load forwards to move; Under equipment is in the first duty, get on the bus described in described equipment is close 60 and chassis 70, can cause car load position of centre of gravity rearward to move.On the other hand, described counterweight 61 along described get on the bus 60 seesaw time, also can cause the change of car load position of centre of gravity, when counterweight 61 is moved backward, the car load position of centre of gravity of car load can be caused rearward to move; When counterweight 61 travels forward, the car load position of centre of gravity of car load can be caused forwards to move.And rotary drilling rig in the course of the work, except the motion of equipment and counterweight 61, remaining part remains static substantially, and therefore, the car load position of centre of gravity of rotary drilling rig depends primarily on position and the weight of equipment and counterweight 61.
The rotary drilling rig car load gravity's center control method that the embodiment of the present invention provides, comprising: obtain the moment of described equipment under different operating state and between car load center of gravity; By the target location of counterweight described in described Calculating Torque during Rotary; Control described counterweight movement to described target location.Because rotary drilling rig is when the duty of boring, drilling rod 20 in equipment, unit head 30, parts such as drilling tool 40 grade only do moving along boring 90 axis directions, the horizontal range of itself and center of gravity for car loaded remains unchanged, therefore be convenient to go out the moment of equipment relative to car load center of gravity according to the Weight computation of this distance and equipment, the stability making the car load gravity's center control method in the present embodiment can realize rotary drilling rig car load center of gravity controls, control method is simple, in addition, adopt this control method, between the type of different rotary drilling rig, although the weight of counterweight is not etc., but by the position of control method mobile counterweight of the present invention, make its generalization, moveable counter weight stability is better, good economy performance, counterweight can be done lighter.
In above-mentioned car load gravity's center control method, the moment of described equipment under different operating state and between car load center of gravity calculates by diverse ways, such as but not limited to the distance between the center of gravity by obtaining described jib lubbing mechanism 50 to described car load center of gravity, calculate the distance between the center of gravity of equipment and described car load center of gravity according to this distance, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
It should be noted that, the distance between the center of gravity of described equipment (comprising jib lubbing mechanism 50, mast 10, drilling rod 20, unit head 30, drilling tool 40) and described car load center of gravity refers to the arm of force (distance namely horizontal direction in) of gravity relative to described car load center of gravity of described equipment.
Special due to rotary drilling rig equipment structure, the center of gravity making the center of gravity of equipment equal described jib lubbing mechanism 50 to the distance of car load center of gravity change size in the horizontal direction changes size with the distance of car load center of gravity in the horizontal direction, in the present embodiment, using the distance between the center of gravity of described jib lubbing mechanism 50 to described car load center of gravity as detection foundation, and then control the car load position of centre of gravity of car load.
Further, distance between the center of gravity that tilt meter by obtaining described swing arm 51 calculates described jib lubbing mechanism 50 to described car load center of gravity, then the distance between the center of gravity being calculated described jib lubbing mechanism 50 by the tilt meter of described swing arm 51 to described car load center of gravity.It should be noted that, described inclination angle can be the described axis of swing arm 51 and the angle of vertical plane, also can be the described axis of swing arm 51 and the angle of horizontal plane.The change of pitch angle of described swing arm 51 can reflect the distance between equipment and car load center of gravity.In the present embodiment, for the described axis of swing arm 51 and the angle of horizontal plane, describe content of the present invention in detail.When described inclination angle reduces, described equipment, away from described 60 and the chassis 70 of getting on the bus, can cause car load position of centre of gravity forwards to move; When described inclination angle increases, get on the bus described in described equipment is close 60 and chassis 70, can cause the car load position of centre of gravity of car load rearward to move.In addition, the change at described inclination angle can reflect that the center of gravity of jib lubbing mechanism 50 changes with the distance of car load center of gravity in the horizontal direction, in the present embodiment, using the inclination angle of described swing arm 51 as detection foundation, and then controlling the car load position of centre of gravity of car load, detection means is simple, convenient.
Described inclination angle directly can be detected by angle sensing equipment and obtain.Particularly, be installed on by described angle detection device 511 on described swing arm 51, described angle detection device 511 directly can measure the angle of swing arm 51 and horizontal plane; Certainly, also can the type of selected angle checkout gear 511 it be made directly can to measure the angle of swing arm 51 and vertical plane.
Described inclination angle can also be detected the length of described amplitude oil cylinder 52 by displacement detector 521 and obtain according to the length of described amplitude oil cylinder 52 and the relation at described inclination angle.The length of described amplitude oil cylinder 52 refers to the total length of amplitude oil cylinder 52, the length of the length namely comprising cylinder tube and the piston rod that stretches out cylinder barrel.
In the present embodiment, described rotary drilling rig comprises and to be connected with described counterweight 61 and to drive the telescopic oil cylinder 62 that counterweight 61 is moved, and moves to described target location by controlling the flexible of described telescopic oil cylinder 62 and then controlling described counterweight 61.Adopt telescopic oil cylinder 62, structure can be made and control all fairly simple, and the range ability of telescopic oil cylinder 62 is more accurate.Those skilled in the art can know, and except telescopic oil cylinder 62, other driving mechanisms can also be taked to drive the motion of described counterweight 61, and such as gear & rack structure etc., do not repeat them here.
Refer to Fig. 6, Fig. 6 is the simplification structural representation of jib lubbing mechanism 50, jib lubbing mechanism 50 comprises and also comprises tripod, wherein, the swing arm 51 of jib lubbing mechanism 50 is the first pin joint G with the hinge point of tripod, one end of amplitude oil cylinder 52 and the hinge point of swing arm 51 are the second pin joint H, swing arm 51 with get on the bus 60 hinge point be the 3rd pin joint E, the other end of amplitude oil cylinder 52 with get on the bus 60 hinge point be the 4th pin joint F.When the length (HF in Fig. 7) of amplitude oil cylinder 52 changes, the EG in swing arm 51(Fig. 7 can be caused) change with the angle of horizon EE ', the position of the subpoint G ' of the first pin joint G on horizon EE ' is changed, and then causes the distance of the parts such as mast 10, unit head 30, drilling rod 20, drilling tool 40 and car load center of gravity to change.
Now obtain described inclination angle for the length being detected described amplitude oil cylinder 52 by displacement detector 521, describe the target location relation each other of the length of described amplitude oil cylinder 52, inclination angle, counterweight in detail.
Refer in Fig. 7, Fig. 7 is the simplification mechanics structural representation of swing arm 51 and amplitude oil cylinder 52, in Fig. 7, in the triangle EFH formed for summit with the 3rd pin joint E, the 4th pin joint F and the second pin joint H respectively, line EH between 3rd pin joint E and the second pin joint H and the angle between the line EF between the 3rd pin joint E and the 4th pin joint F are the first angle α, according to the cosine law
EH
2+EF
2-2EH*EFcosα=HF
2；
In formula, the length value of the length value of the line EH between the 3rd pin joint E and the second pin joint H, the line EF between the 3rd pin joint E and the 4th pin joint F is the known basic data of rotary drilling rig, the length value of the line HF between the second pin joint H and the 4th pin joint F obtains for detecting, therefore, the angle of the first angle α can be calculated:
α=arccos((EH
2+EF
2-HF
2)/2EH*EF)；
In the triangle EGG ' being summit with the first pin joint G, the 3rd pin joint E and subpoint G ' respectively, there is following relation in the size of the first angle α and the projected length EG ' of line EG on horizon EE ' between the first pin joint G and the 3rd pin joint E:
EG’=EG*sin(α+γ-β)
Line EG between first pin joint G and the 3rd pin joint E and the angle between the line EH between the second pin joint H and the 3rd pin joint E are the second angle γ, line EF between 3rd pin joint E and the 4th pin joint F and the 3rd pin joint E and and horizon EE ' between angle be the 3rd angle β, the value of the second angle γ, the 3rd angle β and the line EG between the first pin joint G and the 3rd pin joint E is the known basic data of rotary drilling rig, therefore, the value of projected length EG ' can be calculated.
Be understandable that, if described inclination angle is θ, then θ=α+γ-β, EG '=EG*sin θ, as can be seen here, when described in use angle checkout gear 511 direct-detection during inclination angle, can clipped computational process.
Please again consult Fig. 7, when the length of the line HF between the second pin joint H and the 4th pin joint F changes (length of amplitude oil cylinder 52 changes), the first angle α changes, and the value of described inclination angle and projected length EG ' also changes.The change reflection of the value of projected length EG ' be jib lubbing mechanism 50, the center of gravity of mast 10, drilling rod 20 and the parts such as drilling tool 40, unit head 30 changes with the distance of car load center of gravity in the horizontal direction.
Described getting on the bus 60 is rotated around described chassis 70 by the centre of gyration, and the centre of gyration making described car load center of gravity drop on car load is the optimum position (position of the P point namely in Fig. 4 and Fig. 5) of car load center of gravity.In the present invention, described car load center of gravity is arranged at described centre of gyration place.When the length HF of amplitude oil cylinder 52 is the longest, namely establish HF=HF
max, when namely the stroke of amplitude oil cylinder 52 is maximum, the angle value of corresponding first angle α is maximum, i.e. α=α
max, now, projected length EG ' is the shortest, i.e. EG '=EG '
min.Now, equipment relatively and the moment that produces of this centre of gyration be:
T1=G1*S1+G2*S2+G3*S3+G4*S4；
This moment T1 is clockwise direction, in formula, G1 represents the weight (comprising the weight of drilling rod 20, drilling tool 40) of drill rod mechanism, G2 represents the weight of mast 10 and catead, G3 represents the weight of jib lubbing mechanism 50, G4 represents unit head 30 weight, the unit of G1, G2, G3, G4 is every square of second of kilogram * rice, and S1 represents to the distance of car load center of gravity, S2, the center of gravity of drill rod mechanism represents to the distance of car load center of gravity, S3, the center of gravity of mast 10 and catead represents that the center of gravity of jib lubbing mechanism 50 represents the distance of the center of gravity of unit head 30 to car load center of gravity to the distance of car load center of gravity, S4.It should be noted that, the unit of above-mentioned S1-S4 is rice.
It should be noted that, in the embodiment of the present invention, the center of gravity of described equipment is decomposed into the center of gravity of the center of gravity of center of gravity, mast 10 and catead of drill rod mechanism (comprising drilling rod 20, drilling tool 40), the center of gravity of jib lubbing mechanism 50 and unit head 30.
As α=α
maxtime, described G1-G4 and S1-S4 is the known basic data of rotary drilling rig, therefore can calculate moment T1.Now, the above-mentioned equipment distance centre of gyration (i.e. car load center of gravity) is nearest, and therefore, counterweight 61 is also near the centre of gyration (car load center of gravity), and the moment that counterweight produces relative to the centre of gyration is:
T2=G5*S5；
This moment T2 is counterclockwise, and in formula, G5 represents the weight of counterweight 61, and the unit of G5 is every square of second of kilogram * rice, and S5 represents the distance of counterweight 61 to the centre of gyration, and the unit of S5 is rice.
For making car load balance, T1=T2, can calculate the distance of counterweight near the centre of gyration by this formula, now, can control the target location that counterweight 61 moves to distance centre of gyration S5.
Along with the length of amplitude oil cylinder 52 changes, the size of described S1-S4 all can change.Suppose that the length of amplitude oil cylinder 52 is random length HF
x, the length of corresponding amplitude oil cylinder 52 is HF
xtime the value of the first angle α be set to α
x, the length of corresponding amplitude oil cylinder 52 is HF
xtime EG ' be set to EG ' x, length varying value Δ the EG '=EG ' of EG '
x-EG '
min, now described equipment changes to the distance of the centre of gyration,
S1
x=S1+ΔEG’；
S2
x=S2+ΔEG’；
S3
x=S3+ΔEG’；
S4
x=S4+ΔEG’；
In above formula, S1
x-S4
xthe length of expression amplitude oil cylinder 52 is random length HF respectively
xtime, the center of gravity of drill rod mechanism to the center of gravity of the distance of car load center of gravity, mast 10 and catead to the distance of car load center of gravity, the center of gravity of jib lubbing mechanism 50 is to the center of gravity of the distance of car load center of gravity, unit head 30 to the distance of car load center of gravity.It should be noted that, above-mentioned S1
x-S4
xunit be long measure.
Now, the moment T1 that described equipment produces relative to the centre of gyration is:
T1
x=G1*S1
x+G2*S2
x+G3*S3
x+G4*S4
x
Moment T1
xdirection be clockwise direction.The distance that now establishing weighs the 61 distance centres of gyration is S5
x, the moment T2 that counterweight 61 produces relative to the centre of gyration
x=G5*S5
x, T2
xdirection be counterclockwise.
For making car load balance, T1
x=T2
x
The distance S5 of counterweight 61 apart from the centre of gyration can be calculated by above formula
x.
The present invention also provides a kind of rotary drilling rig car load Center of Gravity Control System, and described control system comprises
Receiving system, for obtaining the positional information of described equipment under different operating state;
Control device, for the moment of equipment under different operating state and between car load center of gravity according to described positional information calculation, by the target location of counterweight 61 described in described Calculating Torque during Rotary, and then control described counterweight 61 and move to described target location, and then control described counterweight 61 and move to described target location.
Further, described control device also comprises checkout gear.Described checkout gear can be institute's displacement sensing device 521, and for detecting the length of described amplitude oil cylinder 52, the length of described amplitude oil cylinder 52 is the positional information of described equipment under different operating state, the signal of the length of the described amplitude oil cylinder 52 detected is sent to described control device by institute's displacement sensing device 521, described control device is according to the relation at the length of described amplitude oil cylinder 52 and the inclination angle of described swing arm 51, calculate the inclination angle of described swing arm 51, by the distance between the center of gravity of equipment described in the Dip countion of described swing arm 51 to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Described checkout gear also can be described angle detection device 511, for detecting the inclination angle of described swing arm 51, the inclination angle of described swing arm 51 is the positional information of described equipment in different operating state, the signal at the inclination angle of the described swing arm 51 detected is sent to described receiving system by described angle detection device 511, distance between described control device is used for by the center of gravity of equipment described in the Dip countion of described swing arm 51 to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Described rotary drilling rig comprises and to be connected with described counterweight 61 and to drive the telescopic oil cylinder 62 that counterweight 61 is moved and the electromagnetic valve be connected between hydraulic oil source and described telescopic oil cylinder 62, the automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight 61 to move to described target location for receiving control signal that described control device sends and then controlling described telescopic oil cylinder 62.
The concrete structure of described electromagnetic valve is not limit, as long as can the control signal that sends of receiving control device control telescopic oil cylinder 62 and carry out corresponding stretching motion.In the present embodiment, described electromagnetic valve is three position four-way electromagnetic valve, described oil sources is hydraulic pump, the oil-in of described electromagnetic valve is communicated with described oil sources, the oil return opening of described electromagnetic valve is communicated with fuel tank, two actuator ports of described electromagnetic valve are connected with the rod chamber of described telescopic oil cylinder 62 and rodless cavity respectively, and the automatically controlled end of the opposite end of described electromagnetic valve is all electrically connected with control device.Described electromagnetic valve at least has the first working position, meta, the second working position; Described electromagnetic valve is in meta, and the connection of oil-in, oil return opening and two actuator ports described in described electromagnetic valve all blocks, and the piston rod of described telescopic oil cylinder 62 is failure to actuate; Described electromagnetic valve is in the first working position, and described oil-in is communicated with the rodless cavity of telescopic oil cylinder 62, and described oil return opening is communicated with the rod chamber of telescopic oil cylinder 62, and the piston rod of described telescopic oil cylinder 62 stretches out; Described electromagnetic valve is in the second working position, and described oil-in is communicated with the rod chamber of telescopic oil cylinder 62, and described oil return opening is communicated with the rodless cavity of telescopic oil cylinder 62, and the piston rod of described telescopic oil cylinder 62 is retracted.
For the ease of the motion of counterweight, reduce the resistance of motion of counterweight, described rotary drilling rig also comprises the slide rail 65 being arranged at and getting on the bus on 60, described telescopic oil cylinder 62 do stretching motion with drive described counterweight along described slide rail 65 slide so that by car load center of gravity all-the-time stable at centre of gyration place.
For the ease of knowing the range ability of described counterweight 61, described control system also comprises the displacement transducer be arranged on described telescopic oil cylinder 62, institute's displacement sensors can detect the position of the end of the piston rod of telescopic oil cylinder 62 in real time, and be sent to control device, the position that this displacement transducer obtains by described control device and target location compare, when both are equal, described control device stops sending the signal of telecommunication to the automatically controlled end of described electromagnetic valve, described electromagnetic valve switches to meta, the piston rod stop motion of described telescopic oil cylinder 62, now, described counterweight 61 moves to target location.
Now to have travelled forward Δ EG ' with described equipment, it is example that described counterweight 61 need move to S5x backward, specifically sets forth control procedure.
Described control device calculates the distance that described counterweight need move to S5x backward, be sent to the corresponding automatically controlled end of described electromagnetic valve, described electromagnetic valve switches to the first working position by meta, the piston rod of described telescopic oil cylinder 62 stretches out, counterweight 61 is moved backward, institute's displacement sensors detects the position of the end of the piston rod of telescopic oil cylinder 62 in real time, once the position that the piston rod of described telescopic oil cylinder 62 stretches out arrives assigned address, namely when described counterweight 61 moves to target location, electromagnetic valve dead electricity also switches to meta, the piston rod that described telescopic oil cylinder 62 stops stops stretching out.
In like manner, when described equipment has moved Δ EG ' backward, the control principle that described counterweight 61 need move forward is identical with above-mentioned control principle, does not repeat them here.
It should be noted that, as long as the length of amplitude oil cylinder 52 changes, telescopic oil cylinder 62 also will move immediately, the amplitude oil cylinder 52 such as not need extend out to halted state completely, it is the relation of a real-time matching between them, namely telescopic oil cylinder 62 and described amplitude oil cylinder 52 are synchronized with the movement, and realize the optimum control of car load center of gravity.
The present invention also provides a kind of rotary drilling rig, and described rotary drilling rig comprises above-mentioned car load Center of Gravity Control System.
Below a preferred embodiment of the present invention is described in detail by reference to the accompanying drawings, but, be not limited to the detail in above-mentioned embodiment.Within the scope of technical conceive of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Claims (11)
1. rotary drilling rig car load gravity's center control method, this rotary drilling rig comprises get on the bus (60), is positioned at the equipment of (60) front end of getting on the bus and is positioned at the counterweight (61) of (60) rear end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected with get on the bus (60) by amplitude oil cylinder (52) and is passed through the flexible switching realizing different operating state of amplitude oil cylinder (52), it is characterized in that, described control method comprises:
Distance between the center of gravity obtaining described jib lubbing mechanism (50) to described car load center of gravity, and calculate the distance between the center of gravity of equipment and described car load center of gravity according to this distance;
Weighing scale according to the distance between the center of gravity of described equipment and described car load center of gravity and equipment calculates the moment of described equipment under different operating state and between car load center of gravity;
By the target location of counterweight (61) described in described Calculating Torque during Rotary;
Control described counterweight (61) and move to described target location.
2. rotary drilling rig car load gravity's center control method as claimed in claim 1, is characterized in that, the step of the distance between the center of gravity of the described jib lubbing mechanism of described acquisition (50) to described car load center of gravity comprises:
Obtain the inclination angle of described swing arm (51);
Distance between the center of gravity being calculated described jib lubbing mechanism (50) by the tilt meter of described swing arm (51) to described car load center of gravity.
3. rotary drilling rig car load gravity's center control method as claimed in claim 2, it is characterized in that, the step at the inclination angle of the described swing arm of described acquisition (51) comprising: the length detecting described amplitude oil cylinder (52);
According to the relation at the length of described amplitude oil cylinder (52) and the inclination angle of described swing arm (51), calculate described inclination angle.
4. rotary drilling rig car load gravity's center control method as claimed in claim 1, described rotary drilling rig also comprises chassis (70), described get on the bus (60) are by relatively described chassis (70) revolution of the centre of gyration, it is characterized in that, described car load center of gravity is positioned at described centre of gyration place, according to the moment of described equipment relative to this centre of gyration place and the weight of counterweight (61), calculate the target location of described counterweight (61).
5. rotary drilling rig car load gravity's center control method as claimed in claim 1, it is characterized in that, described rotary drilling rig comprises and being connected and the telescopic oil cylinder (62) driving counterweight (61) to move with described counterweight (61); Described target location is moved to by controlling the flexible of described telescopic oil cylinder (62) and then controlling described counterweight (61).
6. rotary drilling rig car load gravity's center control method as claimed in claim 5, it is characterized in that, controlling described counterweight (61) moves in the step of described target location, controls telescopic oil cylinder (62) and is synchronized with the movement with described amplitude oil cylinder (52).
7. rotary drilling rig car load Center of Gravity Control System, this rotary drilling rig comprises get on the bus (60), is positioned at the equipment of (60) front end of getting on the bus and is positioned at the counterweight (61) of (60) rear end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected with get on the bus (60) by amplitude oil cylinder (52) and is passed through the flexible switching realizing different operating state of amplitude oil cylinder (52), it is characterized in that, described control system comprises:
Receiving system, for obtaining the positional information of described equipment under different operating state;
Control device, for the moment of equipment under different operating state and between car load center of gravity according to described positional information calculation, by the target location of counterweight (61) described in described Calculating Torque during Rotary, and then control described counterweight (61) and move to described target location;
Wherein, described control system also comprises the angle detection device (511) at the inclination angle for detecting described swing arm (51), distance between described control device is used for by the center of gravity of equipment described in the Dip countion of described swing arm (51) to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
8. rotary drilling rig car load Center of Gravity Control System as claimed in claim 7, it is characterized in that, described control system also comprises:
Displacement detector (521), for detecting the length of described amplitude oil cylinder (52), the length of described amplitude oil cylinder (52) is the positional information of described equipment under different operating state;
Described control device is according to the relation at the inclination angle of the length of described amplitude oil cylinder (52) and described swing arm (51), calculate the inclination angle of described swing arm (51), by the distance between the center of gravity of equipment described in the Dip countion of described swing arm (51) to described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
9. rotary drilling rig car load Center of Gravity Control System as claimed in claim 7, it is characterized in that, described rotary drilling rig comprises and being connected and the telescopic oil cylinder (62) driving counterweight (61) to move and the electromagnetic valve be connected between hydraulic oil source and described telescopic oil cylinder (62) with described counterweight (61); The automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight (61) to move to described target location for receiving control signal that described control device sends and then controlling described telescopic oil cylinder (62).
10. rotary drilling rig car load Center of Gravity Control System as claimed in claim 9, is characterized in that, described control system also comprises the displacement transducer detecting described telescopic oil cylinder (62) distance of stretch out and draw back, and institute's displacement sensors is electrically connected with described control device.
11. 1 kinds of rotary drilling rigs, this rotary drilling rig comprises get on the bus (60), be positioned at the equipment of (60) front end of getting on the bus and be positioned at the counterweight (61) of (60) rear end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected with get on the bus (60) by amplitude oil cylinder (52) and is passed through the flexible switching realizing different operating state of amplitude oil cylinder (52), it is characterized in that, this rotary drilling rig also comprises the rotary drilling rig car load Center of Gravity Control System according to any one of claim 7-10.
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| CN105035976A (en) * | 2015-06-30 | 2015-11-11 | 中国一冶集团有限公司 | Crawling crane gravity center control system and control method thereof |
| KR101617174B1 (en) * | 2015-09-16 | 2016-05-02 | 삼보이엔씨 주식회사 | Diaphragm wall excavator |
| CN106812475A (en) * | 2016-12-09 | 2017-06-09 | 云南省建筑科学研究院 | A kind of turnable Simple water pile rotary drilling rig in chassis |
| CN109057721A (en) * | 2018-10-18 | 2018-12-21 | 北京中车重工机械有限公司 | A kind of rotary drilling rig and its jib lubbing mechanism |
| CN109797793B (en) * | 2019-03-04 | 2021-07-06 | 山推工程机械股份有限公司 | Bulldozer and gravity center adjusting method thereof |
| CN110939132A (en) * | 2019-08-22 | 2020-03-31 | 广东力源液压机械有限公司 | Adjustable counterweight adjusting method and device for crawler-type pile driver |
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| IT202000019597A1 (en) * | 2020-08-07 | 2022-02-07 | Soilmec Spa | MACHINE FOR EXCAVATION, IN PARTICULAR FOR DRILLING, AND METHOD ASSOCIATED WITH SUCH MACHINE. |
| CN111911591A (en) * | 2020-08-11 | 2020-11-10 | 福建厦兴重工机械有限公司 | Counterweight device, engineering machinery, counterweight control system and method |
| CN112252994A (en) * | 2020-10-14 | 2021-01-22 | 安徽亘浩机械设备制造有限公司 | Self-adaptive counterweight type drilling machine |
| CN114233266B (en) * | 2021-12-17 | 2023-11-03 | 中联重科股份有限公司 | Automatic control method, system and storage medium for drilling machine |
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